moveit_fake_controllers.h

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 *  Copyright (c) 2013, Ioan A. Sucan
 *  Copyright (c) 2016, Robert Haschke
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/* Author: Ioan Sucan, Robert Haschke */

#include <moveit/macros/class_forward.h>
#include <moveit/controller_manager/controller_manager.h>
#include <ros/publisher.h>
#include <ros/rate.h>
#include <boost/thread/thread.hpp>

#ifndef MOVEIT_FAKE_CONTROLLERS
#define MOVEIT_FAKE_CONTROLLERS

namespace moveit_fake_controller_manager
{
MOVEIT_CLASS_FORWARD(BaseFakeController);

// common base class to all fake controllers in this package
class BaseFakeController : public moveit_controller_manager::MoveItControllerHandle
{
public:
  BaseFakeController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);

  virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus();
  void getJoints(std::vector<std::string>& joints) const;

protected:
  std::vector<std::string> joints_;
  const ros::Publisher& pub_;
};

class LastPointController : public BaseFakeController
{
public:
  LastPointController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
  ~LastPointController();

  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& t);
  virtual bool cancelExecution();
  virtual bool waitForExecution(const ros::Duration&);
};

class ThreadedController : public BaseFakeController
{
public:
  ThreadedController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
  ~ThreadedController();

  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& t);
  virtual bool cancelExecution();
  virtual bool waitForExecution(const ros::Duration&);
  virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus();

protected:
  bool cancelled()
  {
    return cancel_;
  }

private:
  virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t) = 0;
  virtual void cancelTrajectory();

private:
  boost::thread thread_;
  bool cancel_;
  moveit_controller_manager::ExecutionStatus status_;
};

class ViaPointController : public ThreadedController
{
public:
  ViaPointController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
  ~ViaPointController();

protected:
  virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t);
};

class InterpolatingController : public ThreadedController
{
public:
  InterpolatingController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
  ~InterpolatingController();

protected:
  virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t);

private:
  ros::WallRate rate_;
};
}

#endif